Journal ArticleDOI
Review of pseudoinverse control for use with kinematically redundant manipulators
Charles A. Klein,C.-H. Huang +1 more
- Vol. 13, Iss: 2, pp 245-250
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TLDR
Kinematically redundant manipulators have a number of potential advantages over current manipulator designs and velocity control through pseudoinverses is suggested for this type of arm.Abstract:
Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type of arm, velocity control through pseudoinverses is suggested. Questions associated with pseudoinverse control are examined in detail and show that in some cases this control leads to undesired arm configurations. A method for distributing joint angles of a redundant arm in a good approximation to a true minimax criterion is described. In addition several numerical considerations are discussed.read more
Citations
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Journal ArticleDOI
Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
TL;DR: In this paper, the joint angle rates for a manipulator under the constraints of multiple goals, the primary goal described by the specified end-effector trajectory and secondary goals describ ing the obstacle avoidance criteria.
Journal ArticleDOI
Task-priority based redundancy control of robot manipulators
TL;DR: The concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators is introduced and the effectiveness of the proposed redundancy control scheme is shown.
Journal ArticleDOI
Spacetime constraints
Andrew Witkin,Michael Kass +1 more
TL;DR: This work presents as examples a Luxo lamp performing a variety of coordinated motions that conform to such principles of traditional animation as anticipation, squash-and-stretch, follow-through, and timing.
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Simulating humans: computer graphics animation and control
TL;DR: This chapter discusses human figure models, an interactive system for postural control, and natural language expressions of kinematics and space, as well as a framework for instruction understanding.
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A Dynamical Approach to Gestural Patterning in Speech Production
TL;DR: This article attempts to reconcile the linguistic hypothesis that speech involves an underlying sequencing of abstract, discrete, context-independent units, with the empirical observation of continuous, Context-dependent interleaving of articulatory movements.
References
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Journal ArticleDOI
Resolved Motion Rate Control of Manipulators and Human Prostheses
TL;DR: The kinematics of remote manipulators and human prostheses is analyzed and suggests solutions to problems of coordination, motion under task constraints, and appreciation of forces encountered by the controlled hand.
Journal ArticleDOI
The singular value decomposition: Its computation and some applications
TL;DR: This work provides a tutorial introduction to certain numerical computations both in linear algebra and linear systems in the context of bounded arithmetic and the singular value decomposition (SVD).
Journal ArticleDOI
Supervisory control of remote manipulation
TL;DR: In this paper, the authors propose a real-time control system that can perform complicated tasks, on the moon and beyond, upon command from earth using a computer-controlled remote unit, capable of making limited decisions of its own but supervised from home base.